Convert from Depth Pro default 1536x1536 implementation to 768x768 tensor CoreML packages

Author: Harri Smått

.gitignore

@@ -0,0 +1,4 @@
+
+checkpoints
+out
+

README.md

@@ -1,3 +1,5 @@
+# This fork adds `convert_to_coreml.py` script to convert original Depth Pro model to CoreML programs
+
 ## Depth Pro: Sharp Monocular Metric Depth in Less Than a Second
 
 This software project accompanies the research paper:

convert_to_coreml.py

@@ -0,0 +1,300 @@
+import logging
+import math
+import numpy as np
+
+import coremltools as ct
+from coremltools.converters.mil import register_torch_op
+from coremltools.converters.mil.frontend.torch.ops import upsample_bilinear2d
+from coremltools.converters.mil.frontend.torch.torch_op_registry import _TORCH_OPS_REGISTRY, register_torch_op
+
+import torch
+from torch import nn
+from torch.nn import functional as F
+
+from matplotlib import pyplot as plt
+from typing import Tuple
+
+from src.depth_pro.depth_pro import (
+    create_model_and_transforms,
+    create_backbone_model,
+    DepthProConfig
+)
+from src.depth_pro.network.decoder import MultiresConvDecoder
+from src.depth_pro.network.encoder import DepthProEncoder
+from src.depth_pro.network.fov import FOVNetwork
+from src.depth_pro.network.vit import resize_vit, resize_patch_embed
+from src.depth_pro.utils import load_rgb
+
+from torchvision.transforms import (
+    Compose,
+    ConvertImageDtype,
+    Lambda,
+    Normalize,
+    ToTensor
+)
+
+"""
+example.jpg fov_deg =
+default 1536x1536: 48.4297
+scaled 1024x1024: 49.8382
+"""
+
+class DepthDecoder(nn.Module):
+    def __init__(self, head: nn.Module, fov: FOVNetwork):
+        super(DepthDecoder, self).__init__()
+        self.head = head
+        self.fov = fov
+
+    def forward(self, inputs: torch.Tensor) -> torch.Tensor:
+        x = inputs[0]
+        features = inputs[1]
+        features_0 = inputs[2]
+
+        # execute fov.forward locally with a different scale_factor
+        # fov_deg = self.fov.forward(x, features_0.detach())
+        if hasattr(self.fov, "encoder"):
+            x = F.interpolate(
+                x,
+                size=None,
+                # result size needs to be 384
+                scale_factor=0.25,
+                mode="bilinear",
+                align_corners=False,
+            )
+            x = self.fov.encoder(x)[:, 1:].permute(0, 2, 1)
+            lowres_feature = self.fov.downsample(features_0.detach())
+            x = x.reshape_as(lowres_feature) + lowres_feature
+        else:
+            x = features_0.detach()
+
+        fov_deg = self.fov.head(x)
+        f_px = 0.5 * torch.tan(math.pi * fov_deg.to(torch.float) / 360.0)
+
+        canonical_inverse_depth = self.head(features)
+        inverse_depth = canonical_inverse_depth * f_px
+        depth = 1.0 / inverse_depth.clamp(min=1e-4, max=1e4)
+        return depth
+
+class DepthProScaled(nn.Module):
+    def __init__(self, transform: nn.Module, encoder: DepthProEncoder, decoder: MultiresConvDecoder, depth: DepthDecoder):
+        super().__init__()
+        self.transform = transform
+        self.encoder = encoder
+        self.decoder = decoder
+        self.depth = depth
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        if x.shape[0] == 3:
+            x = x.unsqueeze(0)
+        image = self.transform(x)
+        encodings = self.encoder(image)
+        features, features_0 = self.decoder(encodings)
+        depth = self.depth([image, features, features_0])
+        return depth
+
+class Interpolate(nn.Module):
+    def __init__(self, size, mode):
+        super(Interpolate, self).__init__()
+        self.size = size
+        self.mode = mode
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        x = F.interpolate(x, size=self.size, mode=self.mode, align_corners=False)
+        return x
+
+def create_scaled_model() -> DepthProScaled:
+    config = DepthProConfig(
+        patch_encoder_preset="dinov2l16_192",
+        image_encoder_preset="dinov2l16_192",
+        checkpoint_uri="./checkpoints/depth_pro.pt",
+        decoder_features=256,
+        use_fov_head=True,
+        fov_encoder_preset="dinov2l16_192",
+    )
+
+    patch_encoder, patch_encoder_config = create_backbone_model(preset = config.patch_encoder_preset)
+    image_encoder, _ = create_backbone_model(preset = config.image_encoder_preset)
+    fov_encoder, _ = create_backbone_model(preset = config.fov_encoder_preset)
+    #fov_encoder = None
+
+    dims_encoder = patch_encoder_config.encoder_feature_dims
+    hook_block_ids = patch_encoder_config.encoder_feature_layer_ids
+    encoder = DepthProEncoder(
+        dims_encoder=dims_encoder,
+        patch_encoder=patch_encoder,
+        image_encoder=image_encoder,
+        hook_block_ids=hook_block_ids,
+        decoder_features=config.decoder_features,
+    )
+
+    decoder = MultiresConvDecoder(
+        dims_encoder=[config.decoder_features] + list(encoder.dims_encoder),
+        dim_decoder=config.decoder_features,
+    )
+
+    num_features = config.decoder_features
+    fov = FOVNetwork(num_features=num_features, fov_encoder=fov_encoder)
+    # Create FOV head.
+    fov_head0 = [
+        nn.Conv2d(
+            num_features, num_features // 2, kernel_size=3, stride=2, padding=3
+        ),  # 128 x 24 x 24
+        nn.ReLU(True),
+    ]
+    fov_head = [
+        nn.Conv2d(
+            num_features // 2, num_features // 4, kernel_size=3, stride=2, padding=3
+        ),  # 64 x 12 x 12
+        nn.ReLU(True),
+        nn.Conv2d(
+            num_features // 4, num_features // 8, kernel_size=3, stride=2, padding=3
+        ),  # 32 x 6 x 6
+        nn.ReLU(True),
+        nn.Conv2d(num_features // 8, 1, kernel_size=6, stride=1, padding=0),
+    ]
+    if fov_encoder is None:
+        fov_head = fov_head0 + fov_head
+    fov.head = nn.Sequential(*fov_head)
+    #fov = None
+
+    last_dims = (32, 1)
+    dim_decoder = config.decoder_features
+    head = nn.Sequential(
+        nn.Conv2d(
+            dim_decoder, dim_decoder // 2, kernel_size=3, stride=1, padding=1
+        ),
+        nn.ConvTranspose2d(
+            in_channels=dim_decoder // 2,
+            out_channels=dim_decoder // 2,
+            kernel_size=2,
+            stride=2,
+            padding=0,
+            bias=True,
+        ),
+        nn.Conv2d(
+            dim_decoder // 2,
+            last_dims[0],
+            kernel_size=3,
+            stride=1,
+            padding=1,
+        ),
+        nn.ReLU(True),
+        nn.Conv2d(last_dims[0], last_dims[1], kernel_size=1, stride=1, padding=0),
+        nn.ReLU(),
+    )
+
+    # Set the final convolution layer's bias to be 0.
+    head[4].bias.data.fill_(0)
+
+    # from depth_pro.py
+    transform = nn.Sequential(
+        #[
+            #ToTensor(),
+            #Lambda(lambda x: x.to(device)),
+            Normalize([0.5, 0.5, 0.5], [0.5, 0.5, 0.5]),
+            #Normalize([127.5, 127.5, 127.5], [127.5, 127.5, 127.5]),
+            Interpolate(
+                size=(encoder.img_size, encoder.img_size),
+                mode="bilinear"
+            ),
+            ConvertImageDtype(torch.float32),
+        #]
+    )
+
+    depth = DepthDecoder(head, fov)
+    load_state_dict(depth, config)
+
+    model = DepthProScaled(transform, encoder, decoder, depth)
+    load_state_dict(model, config)
+
+    return model
+
+def load_state_dict(model: nn.Module, config: DepthProConfig):
+    checkpoint_uri = config.checkpoint_uri
+    state_dict = torch.load(checkpoint_uri, map_location="cpu")
+    _, _ = model.load_state_dict(
+        state_dict=state_dict, strict=False
+    )
+
+def load_and_show_example(model: DepthProScaled):
+    image, _, _ = load_rgb("data/example.jpg")
+    model_run = Compose([ToTensor(), Lambda(lambda x: x.to(torch.device("cpu"))), model])
+    depth_map = model_run(image).detach().cpu().numpy().squeeze()
+
+    plt.ion()
+    fig = plt.figure()
+    ax_rgb = fig.add_subplot(121)
+    ax_disp = fig.add_subplot(122)
+    ax_rgb.imshow(image)
+    ax_disp.imshow(depth_map, cmap="turbo")
+    fig.canvas.draw()
+    fig.canvas.flush_events()
+    plt.show(block=True)
+
+def save_coreml_packages(model: DepthProScaled):
+    save_mlpackage(model.transform, [[1, 3, 1080, 1920]], "DepthPro_transform", True)
+    save_mlpackage(model.encoder, [[1, 3, 768, 768]], "DepthPro_encoder")
+    save_mlpackage(model.decoder, [[1, 256, 288, 288], [1, 256, 144, 144], [1, 512, 72, 72], [1, 1024, 24, 24], [1, 1024, 24, 24]], "DepthPro_decoder")
+    save_mlpackage(model.depth, [[1, 3, 768, 768], [1, 256, 288, 288], [1, 256, 24, 24]], "DepthPro_depth")
+    save_mlpackage(model.depth.head, [[1, 256, 768, 768]], "DepthPro_head")
+
+@register_torch_op()
+def _upsample_bicubic2d_aa(context, node):
+    upsample_bilinear2d(context, node)
+
+# https://github.com/apple/coremltools/pull/2354 CoreMLTools 8.0 fix
+@register_torch_op(torch_alias=["concat"], override=True)
+def cat(context, node):
+    def is_tensor_empty(var: Var) -> bool:
+        return np.any([size == 0 for size in var.shape])
+
+    def _parse_positional_args(context, node) -> Tuple[Var]:
+        inputs = _get_inputs(context, node, min_expected=1)
+        nargs = len(inputs)
+
+        xs = inputs[0]
+        # PyTorch can have empty tensor, which is then ignored
+        # However, CoreML does not allow such empty tensor, so remove them now
+        if np.any([is_tensor_empty(x) for x in xs]):
+            filtered_xs = [x for x in xs if not is_tensor_empty(x)]
+            xs = filtered_xs if len(filtered_xs) > 0 else [xs[0]]
+
+        dim = inputs[1] if nargs > 1 else 0
+
+        return xs, dim
+
+    def _parse_keyword_args(context, node, dim) -> Var:
+        # Only torch.export may have kwargs
+        if context.frontend != TorchFrontend.TORCHEXPORT:
+            return dim
+
+        dim = _get_kwinputs(context, node, "dim", default=[dim])[0]
+        return dim
+
+    xs, dim = _parse_positional_args(context, node)
+    dim = _parse_keyword_args(context, node, dim)
+
+    concat = mb.concat(values=promote_input_dtypes(xs), axis=dim, name=node.name)
+    context.add(concat)
+
+def save_mlpackage(G, shapes, name, image_type = False):
+    G.eval()
+    G_inputs = []
+    convert_inputs = []
+    for shape in shapes:
+        G_inputs.append(torch.randn(shape))
+        convert_inputs.append(ct.TensorType(shape=shape, dtype=np.float32) if image_type == False else ct.ImageType(shape=shape, color_layout=ct.colorlayout.RGB))
+    G_trace = torch.jit.trace(G, G_inputs if len(G_inputs) == 1 else [G_inputs])
+    G_model = ct.convert(
+        G_trace,
+        inputs=convert_inputs if len(convert_inputs) <= 1 else [convert_inputs],
+        minimum_deployment_target=ct.target.macOS15,
+        compute_precision=ct.precision.FLOAT32,
+        compute_units=ct.ComputeUnit.CPU_AND_NE
+    )
+    G_model.save("out/" + name + ".mlpackage")
+
+if __name__ == "__main__":
+    model = create_scaled_model()
+    load_and_show_example(model)
+    save_coreml_packages(model)

src/depth_pro/network/decoder.py

@@ -169,6 +169,10 @@ def forward(self, x0: torch.Tensor, x1: torch.Tensor | None = None) -> torch.Ten
 
         if x1 is not None:
             res = self.resnet1(x1)
+            _, _, Wx, Hx = x.shape
+            _, _, Wres, Hres = res.shape
+            if Wx != Wres or Hx != Hres:
+                x = nn.functional.interpolate(x, size=(Wres, Hres), mode="bilinear", align_corners=False)
             x = self.skip_add.add(x, res)
 
         x = self.resnet2(x)

src/depth_pro/network/encoder.py

@@ -169,7 +169,7 @@ def _create_pyramid(
 
     def split(self, x: torch.Tensor, overlap_ratio: float = 0.25) -> torch.Tensor:
         """Split the input into small patches with sliding window."""
-        patch_size = 384
+        patch_size = self.patch_encoder.patch_embed.img_size[0]
         patch_stride = int(patch_size * (1 - overlap_ratio))
 
         image_size = x.shape[-1]

src/depth_pro/network/vit.py

@@ -48,12 +48,12 @@ def forward_features_eva_fixed(self, x):
     return x
 
 
-def resize_vit(model: nn.Module, img_size) -> nn.Module:
+def resize_vit(model: nn.Module, img_size, grid_size) -> nn.Module:
     """Resample the ViT module to the given size."""
     patch_size = model.patch_embed.patch_size
     model.patch_embed.img_size = img_size
-    grid_size = tuple([s // p for s, p in zip(img_size, patch_size)])
-    model.patch_embed.grid_size = grid_size
+    # grid_size = tuple([s // p for s, p in zip(img_size, patch_size)])
+    # model.patch_embed.grid_size = grid_size
 
     pos_embed = resample_abs_pos_embed(
         model.pos_embed,

src/depth_pro/network/vit_factory.py

@@ -37,6 +37,7 @@ class ViTConfig:
 
     img_size: int = 384
     patch_size: int = 16
+    grid_size: int = 24
 
     # In case we need to rescale the backbone when loading from timm.
     timm_preset: Optional[str] = None
@@ -51,13 +52,26 @@ class ViTConfig:
 
 
 VIT_CONFIG_DICT: Dict[ViTPreset, ViTConfig] = {
+    "dinov2l16_192": ViTConfig(
+        in_chans=3,
+        embed_dim=1024,
+        encoder_feature_layer_ids=[5, 11, 17, 23],
+        encoder_feature_dims=[256, 512, 1024, 1024],
+        img_size=192,
+        patch_size=16,
+        grid_size=24,
+        timm_preset="vit_large_patch14_dinov2",
+        timm_img_size=518,
+        timm_patch_size=14,
+    ),
     "dinov2l16_384": ViTConfig(
         in_chans=3,
         embed_dim=1024,
         encoder_feature_layer_ids=[5, 11, 17, 23],
         encoder_feature_dims=[256, 512, 1024, 1024],
         img_size=384,
         patch_size=16,
+        grid_size=24,
         timm_preset="vit_large_patch14_dinov2",
         timm_img_size=518,
         timm_patch_size=14,
@@ -107,7 +121,7 @@ def create_vit(
     if config.patch_size != config.timm_patch_size:
         model.model = resize_patch_embed(model.model, new_patch_size=patch_size)
     if config.img_size != config.timm_img_size:
-        model.model = resize_vit(model.model, img_size=img_size)
+        model.model = resize_vit(model.model, img_size=img_size, grid_size=(config.grid_size, config.grid_size))
 
     if checkpoint_uri is not None:
         state_dict = torch.load(checkpoint_uri, map_location="cpu")